摘要
提出了一种新型机器人触须传感器。它基于啮齿类动物触须的工作机制,以PSD为敏感元件,测量触须接触物体时根部产生的微小位移量。在PSD信号处理上,提出了以软件算法代替信号调理电路中的四则运算部分,有效地提高了系统的精度和稳定性。实验结果表明:触须根部位移量的大小与接触物的距离成反比,而两者的方向角越小位移量变化就越快,由此可以获得接触物的位置信息。
A novel whisker sensor of robot was introduced in the paper. The sensor was based on the rodent＇ s whisker operating mechanism and a PSD was used as sensing element to measure the displacement of whisker root. In the PSD signal process, the paper then puts forward that signal processing operation was realized by software program and tells us the advantage of software. The accuracy and the stability were improved. The experimental resulted indicate that the magnitude of displacement was inversely proportional to the contact distance, and smaller distances increase the displacement more rapidly, the surrounding environment＇ s information of a robot was obtained from these results.
出处
《机电一体化》
2007年第2期64-67,共4页
Mechatronics
